Design and optimization of three-degree-of-freedom planar adaptive cable-driven parallel robots using the cable wrapping phenomenon

2021 ◽  
Vol 166 ◽  
pp. 104475
Author(s):  
Cong Sun ◽  
Haibo Gao ◽  
Zhen Liu ◽  
Sheng Xiang ◽  
Haitao Yu ◽  
...  
Keyword(s):  
Parallel Robots ◽  
Degree Of Freedom ◽  
Design And Optimization ◽  
Three Degree Of Freedom

Trajectory Generation for Three-Degree-of-Freedom Cable-Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Xiaoling Jiang ◽  
Clément Gosselin
Keyword(s):  
Differential Equations ◽  
Trajectory Generation ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Dynamic Equations ◽  
Special Cases ◽  
Linear Differential ◽  
Pass Through ◽  
Cable Forces ◽  
Three Degree Of Freedom

This paper proposes a trajectory generation technique for three degree-of-freedom (3-dof) planar cable-suspended parallel robots. Based on the kinematic and dynamic modeling of the robot, positive constant ratios between cable tensions and cable lengths are assumed. This assumption allows the transformation of the dynamic equations into linear differential equations with constant coefficients for the positioning part, while the orientation equation becomes a pendulum-like differential equation for which accurate solutions can be found in the literature. The integration of the differential equations is shown to yield families of translational trajectories and associated special frequencies. This result generalizes the special cases previously identified in the literature. Combining the results obtained with translational trajectories and rotational trajectories, more general combined motions are analyzed. Examples are given in order to demonstrate the results. Because of the initial assumption on which the proposed method is based, the ratio between cable forces and cable lengths is constant and hence always positive, which ensures that all cables remain under tension. Therefore, the acceleration vector remains in the column space of the Jacobian matrix, which means that the mechanism can smoothly pass through kinematic singularities. The proposed trajectory planning approach can be used to plan dynamic trajectories that extend beyond the static workspace of the mechanism.

scholarly journals Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

2018 ◽  
Author(s):  
Tahir Rasheed ◽  
Philip Long ◽  
David Marquez-Gamez ◽  
Stéphane Caro
Keyword(s):  
Parallel Robot ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Static Equilibrium ◽  
Kinematic Redundancy ◽  
Pick And Place ◽  
Moving Platform ◽  
Three Degree Of Freedom

Mobile Cable-Driven Parallel Robots (MCDPRs) are special type of Reconfigurable Cable Driven Parallel Robots (RCDPRs) with the ability of undergoing an autonomous change in their geometric architecture. MCDPRs consists of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple Mobile Bases (MBs). Generally MCDPRs are kinematically redundant due to the additional mobilities generated by the motion of the MBs. As a consequence, this paper introduces a methodology that aims to determine the best kinematic redundancy scheme of Planar MCDPRs (PMCDPRs) with one degree of kinematic redundancy for pick-and-place operations. This paper also discusses the Static Equilibrium (SE) constraints of the PMCDPR MBs that are needed to be respected during the task. A case study of a PMCDPR with two MBs, four cables and a three degree-of-freedom (DoF) Moving Platform (MP) is considered.

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

2011 ◽  
Vol 1 (4) ◽  
pp. 61-86
Author(s):  
Hamoon Hadian ◽  
Abbas Fattah
Keyword(s):  
Parallel Manipulators ◽  
Parallel Robot ◽  
Numerical Approach ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Tension Index ◽  
Symbolic Method ◽  
Three Degree Of Freedom ◽  
Cable Robots

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obtain their isotropic postures. These are a 6-6 cable-suspended parallel robot and a novel restricted three-degree-of-freedom cable-driven parallel robot. Eventually, the results of isotropic conditions of both cable robots are compared to show their applications.

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots

2013 ◽  
pp. 266-290
Author(s):  
Hamoon Hadian ◽  
Abbas Fattah
Keyword(s):  
Parallel Manipulators ◽  
Parallel Robot ◽  
Numerical Approach ◽  
Parallel Robots ◽  
Degree Of Freedom ◽  
Tension Index ◽  
Symbolic Method ◽  
Three Degree Of Freedom ◽  
Cable Robots

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obtain their isotropic postures. These are a 6-6 cable-suspended parallel robot and a novel restricted three-degree-of-freedom cable-driven parallel robot. Eventually, the results of isotropic conditions of both cable robots are compared to show their applications.

scholarly journals Development of a Compound Speckle Interferometer for Precision Three-Degree-of-Freedom Displacement Measurement

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1828
Author(s):  
Hung-Lin Hsieh ◽  
Bo-Yen Sun
Keyword(s):  
Speckle Interferometry ◽  
Degree Of Freedom ◽  
Heterodyne Interferometry ◽  
Beam Splitting ◽  
Speckle Interferometer ◽  
Real World Applications ◽  
Three Degree Of Freedom ◽  
Contact Displacement ◽  
Displacement Measurements ◽  
Measurement Capabilities

In this study, a compound speckle interferometer for measuring three-degree-of-freedom (3-DOF) displacement is proposed. The system, which combines heterodyne interferometry, speckle interferometry and beam splitting techniques, can perform precision 3-DOF displacement measurements, while still having the advantages of high resolution and a relatively simple configuration. The incorporation of speckle interferometry allows for non-contact displacement measurements by detecting the phase of the speckle interference pattern formed from the convergence of laser beams on the measured rough surface. Experiments were conducted to verify the measurement capabilities of the system, and the results show that the proposed system has excellent measurement capabilities suitable for future real-world applications.

scholarly journals Analytical Investigation on Torque of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

2021 ◽  
Vol 11 (15) ◽  
pp. 6872
Author(s):  
Chien-Sheng Liu ◽  
Yi-Hsuan Lin ◽  
Chiu-Nung Yeh
Keyword(s):  
Power Efficiency ◽  
Rotation Angle ◽  
Analytical Investigation ◽  
Degree Of Freedom ◽  
Electromagnetic Actuator ◽  
3D Fem ◽  
Image Stabilization ◽  
Large Rotation ◽  
Spherical Motor ◽  
Three Degree Of Freedom

In keeping with consumers’ preferences for electromagnetic motors of ever smaller power consumption, it is necessary to improve the power efficiency of the electromagnetic motors used in unmanned aerial vehicles and robots without sacrificing their performance. Three-degree-of-freedom (3-DOF) spherical motors have been developed for these applications. Accordingly, this study modifies the 3-DOF spherical motor proposed by Hirata’s group in a previous study (Heya, A.; Hirata, K.; Niguchi, N., Dynamic modeling and control of three-degree-of-freedom electromagnetic actuator for image stabilization, IEEE Transactions on Magnetics 2018, 54, 8207905.) to accomplish a 3-DOF spherical motor for camera module with higher torque output in the large rotation angle. The main contribution of this study is to improve the static torque in the X- and Y-axes with an improved electromagnetic structure and a particular controlling strategy. In the structural design, eight symmetrical coils with specific coil combination are used instead of conventional four symmetrical coils. In this study, the development of the proposed 3-DOF spherical motor was constructed and verified by using a 3D finite-element method (3D FEM). The simulation results show that the proposed 3-DOF spherical motor has higher torque output in the large rotation angle when compared to the original 3-DOF spherical motor.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

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